I’d consider joannalannister to be the real authority on this, but I’ll give it a try.
Some level of sexual exploration started really young. They got caught by Joanna, and she had them separated, and Joanna died when they were 7, three years before the Tourney where the Rhaegar thing was brought up. It certainly continued until they were 12 and Cersei was brought to court, after which there was a three year period in which Jaime and Cersei didn’t really see each other much. Then Jaime becomes a Kingsguard, Tywin takes her back to Casterly Rock, and they don’t really see each other for another three years.
Then Cersei comes back to King’s Landing as Robert’s bride and the two of them are together for fifteen years.